Material handling apparatus and the like



Sept. 26, 1967 J l. BAER 3,343,864

MATERIAL HANDLING APPARATUS AND THE LIKE Filed Oct. 7, 1965 2Sheets-Sheet 1 INVENTOR JAMES i. BAER ATTORNEY Sept. 26, 1967 J. l. BAERMATERIAL HANDLING APPARATUS AND THE LIKE 2 Sheets-Sheet 2 Filed Oct. 7,1965 INVENTOR JAMES l. BAER ATT RNEY United States Patent The presentinvention relates to apparatus for handling material or objects, andmore particularly to the type of apparatus which has a power actuatedgripping or embracing action by which objects can be handled ormanipulated by remote control.

The principal object of the present invention is the provision of a newand improved material handling apparatus and the like which is capableof gripping an object by an element which curls about the object inresponse to fluid pressure applied to the interior thereof to embracethe object for transportation or handling thereof.

Another object of the invention is the provision of a new and improvedmaterial handling apparatus of the character mentioned in which thepressure of the grip about the object can be readily regulated accordingto the fluid pressure.

A still further object of the invention is to provide an article ofmanufacture comprising an elongated flexible part attached between itsends to a second co-extending part which is flexible and which mayelongate relative to the first part in response to pressure applied tothe interior thereof so that the elongation of the second part producescurling of the relatively inelastic first part.

Other objects and advantages of the invention will be apparent from thefollowing description of preferred forms thereof, reference being madeto the accompanying drawings wherein:

FIG. 1 is a fragmentary perspective view of a material handling deviceembodying one form of the invention;

FIG. 2 is a fragmentary view, partly in section and drawn on a largerscale of the material handling device shown in FIG. 1, including aschematic control therefor;

FIG. 3 is a sectional view taken substantially along line 33 of FIG. 2;

FIG. 4 is a side elevational view of a gripping member embodying anotherform of the invention;

FIG. 5 is a view similar to FIG. 4, but showing the member in form forgripping;

FIG. 6 is a fragmentary side elevational view of a flexing memberembodying still another form of the invention; and

FIG. 7 is a sectional view of the flexing member shown in FIG. 6 and ona largerscale.

Referring to FIGS. 1 to 3, a power operated apparatus 10 is shown forhandling objects remote from the operator thereof, one or" which objectsis a tubular member T shown in broken lines. The objects handled by theapparatus may be of a type or in an environment in which it cannot bereadily handled manually, for example. It is to be understood, however,that the invention could be utilized in many different forms and forhandling objects for various purposes as well as providing merelyanimation or movements of figures, or for operation of control orindicators responsive to changes in conditions which may reflect changesin pressure of fluid.

The apparatus 10 comprises a base member or hand 11 having a concavesurface 12 thereon against which a part of the tube T may engage, andtwo pairs of fingers 13, 14 and 15, 16 extend from opposite sides of theconcave surface. The fingers are operable to curve inwardly and grasp anarticle therebetween, as is shown.

The hand member 11 may be formed of any suitable material, such as castmetal, and is attached to an arm 17 of a mechanism, not shown, by whichthe hand can be 3,343,864 Patented Sept. 26, 1967 manipulated eithermanually or by suitable power means, for transporting or otherwisehandling the objects gripped by the fingers 13-16 and held to the handproper. The operation of the fingers to grip and release objects can becontrolled by remotely located control means described hereinafter.

Referring to FIG. 2, wherein the apparatus is shown partly in sectiontaken on a plane transversely of the axis of the object T so that thehand member 11 and finger 13 are shown in longitudinally cross-sectionand finger 14 appears in elevation, each of the fingers 13-16 comprisesa tube of suitable imperforate flexible material, such as rubber orrubber-like plastic or the like, closed at its outer end and which hasan open base end integral with a rigid coupling 18 which is threadedinto an opening in the member 12 for connection with a fluid pressuresource, described hereinafter. To simplify the explanation of thedisclosure only fingers 13, 14 are described in detail and it should beunderstood that the fingers 15, 16 are like fingers 13, 14 in allrespects. The fingers 13, 14 have inner side walls 13a, 14a which areflexible but inelastic, at least in the longitudinal direction of thefingers, and the edges of the inner walls are each integral with aflexible and elongatable outer wall 13b, 14b respectively. The outerwalls 13b, 14b are elongatable by reason of transverse corrugations 13c,14c and in a normal state, the fingers are approximately straight, or atleast in a relaxed or non-gripping position. It will be apparent that iffluid is introduced into the fingers 13, 14 under pressure, the walls13b, 14b tend to elongate, and because walls 13a, 14a are non-elastic orrelatively non-elastic to the walls 13c,

the normally straight finger-like elements will curl about thenon-elastic walls 13a, 14a and thereby cause a gripping action of thefingers, as is illustrated in FIG. 1. The fingers 13-16 are preferablymolded of the material mentioned in a form so that when the internalpressure of the finger approaches that of the atmosphere the form of thefingers returns to a position in which the walls 13a, 140 are straightor nearly so. It will be understood that the fingers could be formed ofother materials or in other forms having the characteristics of anon-elongated section co-extending with an extendable section.

Furthermore, the walls 13a, 14a are preferably formed of material whichaffords a suitable gripping surface and should be wear resistant. Forexample, it may be desirable to provide a roughened thread or surfacewhich engages the article gripped thereby, as seen at 13d, 14d.

The gripping action of the fingers 1316 is controlled by directing fluidunder pressure into the fingers and the relaxing or release of thegripping action is effected by releasing the fluid from the fingers, allof which can be effected at any suitable location relative to the handmember 11. In the form of the invention shown, the openings in member 11into which the finger couplings 18 are threaded receive the ends ofbranch tubes two of which appear at 19, 20, which tubes are connectedwith a manifold 21 at the end of a fluid supply conduit 22 which passesthrough arm 17 and is connected with a suitable three-way control valve24 installed at a convenient control position. The valve 24 is connectedto a convenient fluid pressure system, not shown, by a connection 24aand which directs fluid into the conduit 22 through an outlet 24b byoperation of a control handle 24c. Fluid may be bled from conduit 22into the low pressure side of the fluid system through a return line 24dby movement of the handle to a given control position. The details ofvalve 24 are not shown inasmuch as any suitable form of three-way valvecould be employed, many of which are commercially available.

If desired, each finger or pair of fingers, i.e. opposite disposedfingers, could have its own source of controlled fluid pressure.

It will be seen that by manipulating arm 17 so as to position thesurface 12 of the hand member 11 against an object with the two pairs offingers 13, 14 and 15, 16 along opposite sides thereof, and directingfluid under pressure into the fingers the fingers will curl about theobject and grip it according to the pressure of the fluid in thefingers.

The arm 17 may then be manipulated to transfer the object gripped by thefingers to its desired destination or to otherwise manipulate the objectwhereupon the fluid may then be exhausted from the fingers and causethem to return to their normally straight positions and release theobject. The fluid pressure for actuating the fingers can be suppliedthrough flexible tubing so as to permit freedom in the manipulations ofthe hand member 11 in its movements of the gripped object.

It will be appreciated that by limiting the fluid pressure admitted tothe fingers, the gripping pressure applied to the object can becontrolled and either a pressure gauge or a pressure limiting controlcould be employed in the fluid pressure system.

It will be apparent that the invention is readily suitable for handlingof objects by grasping the same and that the movement of the fingers13-16 could as well be utilized for actuating various types ofmechanisms including, control devices, signaling devices and the like,and that remote control of the apparatus is easily effected through thefluid tubing and control valving. Likewise, it will be appreciated thatelements embodying the invention could be employed to simulate themovable joints of members of animated animals, for example.

The elongated sides of the fingers need not be corrugated but may be ofa material which assumes a random shape when it is collapsed by thereduction of fluid pressure inside the fingers. Referring to FIGS. 4, 5,a finger 30 is shown comprising a flexible but relatively inelastic wall39a which normally assumes a straight form, and which is integrallyjoined along its edges and outer end to an expansible elongated sidewall structure 3912 which has no particular form and lies in randomfolds when the portion 3dr; of the finger is straight. By applying fluidunder pressure into the finger through a suitable tube 31, theelongation of the part 3% and the inability of the side Zila toelongate, results in a curling of the element 30, as seen in FlG. 5. Thefinger 30 could be attached to any suitable apparatus or device toutilize its capacity for movement as described.

Referring to FIGS. 6 and 7, another form of the invention is disclosedin which an arm 4% is shown which comprises a plurality of sections ofrigid tubular members 41, 42, 43 interconnected by flexing joints 44, 45which impart swinging movement to the arm sections. The flexing joints44, 45 comprise tubular sections having flexible but inelastic sidewalls 44a, 45a in the longitudinal direction and elongatable wallportions 44b, 45b, connected therewith in the form of corrugations,similar to the walls 130, 140 of the fingers 13, 14. The walls 44a, 44b,45a, 45b are formed of suitable material such as described withreference to the fingers 1346. The ends of the sections 44, 45 havethreaded discs attached thereto and for the sake of simplicity only thediscs 44c, 44d of section 44 are shown. These discs 440 are threadedinto the adjoining ends of the rigid members 41, 42 and fluid underpressure is conducted to and exhausted from the joint 44 "by tubing 47.The tube 47 is connected with a suitable fluid source including a valvearrangement, not shown, which could be similar to that describedhereinbefore, and is attached in an opening through the disc 440 throughwhich fluid is fed into the joint 44. One end of a tube 48 is attachedin an opening through the disc 44d and the other end is attached in anopening through a disc 45c at the joint 45, which disc is like disc 440,so that fluid from joint 44 passes into joint 45 through tube 48. Itwill be seen that when fluid pressure is applied to line or tube 47 thejoints 45, 44 will flex and cause the rigid portions 41, 42, 43 to moveto a partially closed from for supporting material or the like.

It will be understood that although I have described three forms of theinvention it is to be understood that other forms, modifications andadaptations thereof could be made without departing from the spirit andscope of the claims which follow.

I claim:

1. An apparatus for gripping objects and the like comprising a basemember, a pair of tubular members each supported at one end to said basemember and normally extending relatively straight, each of said tubularmembers being closed at its extended end and each comprising a yieldableextendable side wall connected along the edges thereof with a relativelynon'extendable side of said member, and means to direct fluid into saidtubular members under pressure for causing extension of said extendablewalls thereof thereby curving said non-extendable sides, said tubularmembers being disposed with the non-extendable sides facing toward theother whereby said members curve in response to fluid pressure thereintoward one another.

2. An apparatus for supporting objects and the like comprising, twoelongated rigid members arranged in end to end relation and connected byjoint means comprising a tubular member having one side of flexiblerelatively non-extendable material and the opposite wall formed offlexible material and extendable in the direction said tubular membersextend, means normally tending to maintain said members at a relativelysubstantial angle, and means for applying fluid pressure to said tubularmember whereby said elongated wall thereof is extended and about saidnon-extendable wall thereby causing relative angular movement betweensaid members to decrease the normal angle therebetween.

3. A structure for gripping objects comprising a relatively rigidsupport element, a flexible hollow member having one end secured to saidsupport element and the remainder thereof being free to flex, means tosupply fluid under pressure to the interior of said member, saidflexible hollow member having an extendable wall adapted to elongate inresponse to fluid pressure applied inside said member, and flexiblegripping means extending along one side of said extendable wall andconnected therewith, said flexible gripping means being non-elongatablerelative to said extendable wall whereby fluid pressure applied to theinterior of said flexible member causes said extendable wall to elongateand flex about said gripping means and curve said gripping means awayfrom said extendable wall for embracing an object, and means normallyurging said member and flexible means toward a non-curving position torelease an object embraced by said gripping means.

4. A structure as defined in claim 3 in which said hollow membercomprises a finger-like element closed at the end remote from saidsupport element, and said flexible gripping means comprises a side wallof said fingerlilre element formed of relatively non-elongatableflexible material which tends to assume a substantially straightattitude when fluid pressure in said hollow member is relatively low.

5. A structure as defined in claim 4 in which the exterior of said sidewall has an outer surface adapted to grip articles.

6. A structure as defined in claim 3 in which said extendable wallcomprises a corrugated section having the corrugations thereof extendingtransversely of the direction of elongation thereof.

7. A structure as defined in claim 4 in which said extendable wall iscomprised of corrugations extending transversely of said extendablemember.

8. An apparatus for gripping objects and the like comprising a supportmember including a base portion, a flexible tubular member supported atone end on said base portion and having the opposite end closed and freeto swing by flexing, said tubular member being normally disposed in arelatively straight attitude, means forming a yieldable extendable sideWall of said tubular member connected along the edges thereof with arelatively nonextendable side of said member, and means to direct fluidinto said tubular member under pressure for causing extension of saidextendable wall thereby curving said non-extendable side.

9. A structure as set forth in claim 3 in which said extendable wallcomprises flexible material having random folds therein when said memberis in a relatively straight attitude.

References Cited UNITED STATES PATENTS 5 2,768,018 10/1956 Ehmann 294633,039,767 6/1962 Staines 271-26 3,202,061 8/1965 Johnston 92 37 GERALDM. FORLENZA, Primary Examiner. 10 G. F. ABRAHAM, Assistant Examiner.

1. AN APPARATUS FOR GRIPPING OBJECTS AND THE LIKE COMPRISING A BASEMEMBER, A PAIR OF TUBULAR MEMBERS EACH SUPPORTED AT ONE END TO SAID BASEMEMBER AND NORMALLY EXTENDING RELATIVELY STRAIGHT, EACH OF SAID TUBULARMEMBERS BEING CLOSED AT ITS EXTENDED END AND EACH COMPRISING A YIELDABLEEXTENDABLE SIDE WALL CONNECTED ALONG THE EDGES THEREOF WITH A RELATIVELYNON-EXTENDABLE SIDE OF SAID MEMBER, AND MEANS TO DIRECT FLUID INTO SAIDTUBULAR MEMBERS UNDER PRESSURE FOR CAUSING EXTENSION OF SAID EXTENDABLEWALLS THEREOF THEREBY CURVING SAID NON-EXTENDABLE SIDES, SAID TUBULARMEMBERS BEING DISPOSED WITH THE NON-EXTENDABLE SIDES FACING TOWARD THEOTHER WHEREBY SAID MEMBERS CURVE IN RESPONSE TO FLUID PRESSURE THEREINTOWARD ONE ANOTHER.